US20100117870A1 - Self-orienting reticle - Google Patents
Self-orienting reticle Download PDFInfo
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- US20100117870A1 US20100117870A1 US12/594,498 US59449808A US2010117870A1 US 20100117870 A1 US20100117870 A1 US 20100117870A1 US 59449808 A US59449808 A US 59449808A US 2010117870 A1 US2010117870 A1 US 2010117870A1
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- sighting
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- reference point
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- 238000000034 method Methods 0.000 claims abstract description 27
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/02—Aiming or laying means using an independent line of sight
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/14—Indirect aiming means
- F41G3/16—Sighting devices adapted for indirect laying of fire
- F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G9/00—Systems for controlling missiles or projectiles, not provided for elsewhere
- F41G9/002—Systems for controlling missiles or projectiles, not provided for elsewhere for guiding a craft to a correct firing position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
- G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0189—Sight systems
Definitions
- This application relates generally to aiming devices to display device for displaying vehicle state information.
- Typical sighting or targeting reticles generally comprise a circular sighting ring with a central cross-hair or “pipper” which marks the exact aiming-point or target at within the field of view of the sighting ring.
- FIG. 1 illustrates a simple example of the basic reticle symbology of the prior art.
- Sighting reticles may be adequate for gun sighting or camera-aiming purposes, particularly when the associated device (e.g. the gun or the camera) maintains a fixed orientation with respect to an operator.
- the situation becomes more complex however, when the frame of reference is no longer fixed. This situation occurs for example with a turret-mounted device which incorporates two or more axes of rotational freedom compared to a position of the operator.
- UAVs Unmanned Aerial Vehicles
- the operator In controlling UAVs for example, the operator lacks all non-instrument cues regarding the orientation and flight path of the vehicle, which makes it extremely challenging for a sensor operator to remain oriented in space.
- TOI target of interest
- a “threat” is identified on the camera image, it is extremely difficult for the operator to determine which direction the vehicle should be turned to intercept, photograph, or evade the “threat”.
- Some systems use auto-stabilization and auto-tracking devices to diminish the adverse effects by maintaining a “lock” on the target using gimballing techniques. These techniques however add yet another level of abstraction outside the operator's control loop for the vehicle and its sighting system.
- a method for providing a sighting reticle oriented to aim at a target from a vehicle within an environment of the target comprises: providing a graphical image representing the environment as seen from the vehicle when aiming at the target; determining a state of the vehicle with respect to a spatial reference point; overlaying the sighting reticle onto the graphical image, the sighting reticle indicating the target on the graphical image with respect to the spatial reference point, the sighting reticle comprising a marking defining the spatial reference point; positioning the sighting reticle to orient the marking based on the state of the vehicle; and displaying on a display device the sighting reticle positioned on the graphical image to enable aiming at the target.
- a system which provides a sighting reticle oriented to aim at a target from a vehicle within an environment of the target.
- the system comprises: a processing module; a database accessible by the processing module; an application coupled to the processing module; and a display unit.
- the application is configured for: receiving vehicle state information from the vehicle; receiving a graphical image, the graphical image representing the environment as seen from the vehicle when aiming at the target; determining a state of the vehicle with respect to a spatial reference point using the vehicle state information received; overlaying the sighting reticle onto the graphical image received, the sighting reticle indicating the target on the graphical image with respect to the spatial reference point, the sighting reticle comprising a marking defining the spatial reference point; and positioning the sighting reticle to orient the marking based on the state of the vehicle.
- the display unit is for displaying the sighting reticle positioned on the graphical image to enable aiming at the target.
- FIG. 1 is a schematic illustration of a simple example of the basic reticle symbology according to the prior art
- FIG. 2 a is a schematic illustration of an oriented sighting reticle overlaid on an image with a horizon line in accordance with an embodiment
- FIG. 2 b is an exemplary display of an oriented reticle overlaid on an image with a runway;
- FIG. 2 c is another exemplary display of an oriented reticle overlaid on an image with a body of water and a pier;
- FIG. 3 is a flow chart of a method for providing an oriented sighting reticle for aiming at a target, in accordance with an embodiment
- FIG. 4 is a schematic illustration of a system for aiming at a target, in accordance with an embodiment.
- the sighting reticle thus provided and displayed in accordance with the present description modifies the traditional reticle symbology by using vehicle information and spatial referencing.
- FIG. 2 a illustrates an exemplary display of an oriented reticle as per the method and system described hereinbelow.
- a graphical image 30 having a sighting reticle 32 overlaid thereon.
- the graphical image 30 shows a horizon line 34 along with geographical features (not shown).
- the sighting reticle 32 has a sighting ring 38 (also referred to as a sighting circle) and a central reference symbol 40 such as that defining central cross hairs for example, therein aimed at a target.
- Marking 42 on the sighting ring 38 represents a spatial reference point.
- Additional optional indices 44 can be added to the sighting reticle 32 to add reference points. These can be spaced by varying angles “a” as desired around the sighting ring 38 and can form, with the spatial reference point at 42 , a spatial reference frame for indicating a state of the vehicle.
- Other vehicle heading indices such as index 46 can be added to the sighting reticle to indicate a heading direction of the vehicle.
- the central reference symbol 40 can be adapted to represent a shape of the vehicle from which an orientation of the vehicle can be inferred.
- vehicle state information 48 can be overlaid on the graphical image, as illustrated.
- FIGS. 2 b and 2 c both provide examples based on electronic imagery obtained from a UAV aiming or sensor equipment ( 76 or 78 ) having a spatial reference point 42 defined as True North.
- the aiming equipment system in FIG. 2 b is oriented in an approximately Northeasterly direction, as depicted by the top-centre of the sighting ring 38 , close to the horizon line 34 .
- the vehicle 74 is heading in a Southeasterly direction as indicated by the vehicle heading orientation index 46 , almost parallel to the runway 92 .
- the target at central reference symbol 40 is shown to be at the intersection of the taxiway, on the other side of the runway 92 , with the short cutoff leading to the runway 92 .
- FIG. 2 c the target as seen by the aiming equipment 76 and the vehicle 74 are almost aligned.
- the vehicle 74 is heading slightly West of South, toward the far point of the bay 100 , and the aiming equipment is aiming slightly East of south.
- the pier 102 runs Northeast-Southwest, and the target at central reference symbol 40 is directly on the pier 102 , slightly off-shore from the beach 104 .
- a method for providing a sighting reticle oriented to aim at a target In step 50 , a graphical image representing the environment as seen from the vehicle when aiming at the target is provided. At step 52 , a state of the vehicle is determined. The state is relative to a spatial reference point. Step 54 involves overlaying the sighting reticle onto the graphical image. The sighting reticle indicates the target on the graphical image with respect to the spatial reference point and the sighting reticle comprises a marking defining the spatial reference point. At step 56 , the sighting reticle is positioned to orient the marking based on the state of the vehicle.
- a display device displays the sighting reticle positioned on the graphical image to enable aiming at the target.
- Step 60 is optional and involves the display of the state of the vehicle on the graphical image with the sighting reticle. Any display unit can be used to accomplish this display, as for step 58 .
- the graphical imagery includes, but is not limited to, photographic imagery from a camera, radar, infra-red, synthetic imagery, or vision systems where the graphical imagery is formed from graphical data derived from databases. Any type of sensor can be used to acquired the graphical imagery.
- the vehicle state information may be received from the aircraft's primary instrumentation systems and may include such information as, but not limited to, aircraft altitude, heading direction, and ground track. This overlaid information is exemplified by FIGS. 2 b and 2 c.
- annotated angular markings such as cardinal bearing indices
- the annotated angular markings are oriented to a selected reference point which can optionally be chosen to be a True, a Magnetic North, a Grid North or any other suitable Grid reference appropriate to the operation of the vehicle.
- These annotated indices may also be supplemented by additional indices, as desired.
- Such annotated indices can form together a fully annotated compass rose of 360 degrees although adequate orientation of the reticle can be achieved by the use of a single spatial reference point or a frame formed by the cardinal markings as shown in FIG. 2 b or 2 c.
- the above method also optionally has additional vehicle state indices overlaid on the sighting circle of the sighting reticle.
- a single vehicle state index 46 is shown and aligned with the heading of the vehicle. These represent the vehicle's heading and/or track in reference to the spatial reference point of the annotated indices on the sighting ring. Two of these indices 46 are used in FIG. 2 c.
- the central reference symbol 40 is also optionally modified to form a plan-view vehicle representation typical of navigation displays that are well known to one versed in the art.
- Such adapted central reference symbol has a head 64 and a tail 66 indicative of an orientation of the vehicle in space, while still defining an aiming point or target of the sighting reticle 32 .
- the central reference symbol 40 is adapted to represent an aircraft by having the symbolic “wings” intersected by a “fuselage” at a centre of rotation of the symbol so as to simultaneously represent the target or aiming point.
- a symbolic “tail’ 66 is also added to the reference symbol to assist in determining its orientation.
- the central reference symbol is rotatable and oriented in accordance with the vehicle state indices 46 or the vehicle state information. Accordingly, the operator can immediately gauge the direction of the vehicle's heading orientation (or track) in relation to the graphical imagery 30 and spatial reference point 42 for example.
- FIG. 4 there is illustrated a system 70 for aiming at a target 72 from the vehicle 74 by implementing an embodiment of the above described method.
- the vehicle 74 has aiming equipment 76 which optionally has a sensor 78 recording graphical data for representing the environment of the vehicle 74 when aiming at the target 72 .
- the system 70 receives information from the vehicle 74 , including vehicle state information, graphical data and other optional aiming information from the aiming equipment 76 .
- the system 70 has a database 80 for recording information received from the vehicle 74 . This information is retrieved and processed for display by a sighting module 82 .
- the database 80 can integrally form part of the sighting module 82 .
- the sighting module 82 has a processing module 84 , an application 86 and a display unit 88 .
- the processing module 84 has access to the database 80 and the application 86 .
- the system 70 optionally has a graphical database 89 which is dedicated to storing graphical data either as received from the sensor 78 or as compiled beforehand to provide synthetic imaging. Databases 80 and 89 may also be provided as a single database.
- the system 70 can also have an input device (not shown) allowing an operator to set various customization parameters of the system such as the setting of the spatial reference point or different display options which are then used to update any default parameters stored on database 80 .
- An optional user interface can also form part of the system 70 , along with other input/output devices (not shown) allowing various forms of transmission and reception of information between the operator and the system 70 .
- input/output devices include but are not limited to, mouse, joysticks, keyboard, touch screen, speaker, microphone and the like.
- the processing module 84 accesses the application 86 and the database 80 or 89 to retrieve vehicle state information as received from the vehicle 74 .
- graphical data is retrieved from either the database 89 or the sensor 78 .
- Such graphical data is used to display on the display unit 88 a graphical image representing the environment as seen from the vehicle 74 when aiming at the target 72 .
- the processing module 84 processes the vehicle state information to determine a state of the vehicle 74 with respect to a given spatial reference point.
- This state can include information such as a position, an orientation, heading or ground track information of the vehicle with respect to the spatial reference point.
- the processing module 84 overlays a sighting reticle for display on the graphical image to indicate where the target 72 is on the graphical image.
- the sighting reticle also has a marking placed so as to show the spatial reference point.
- the processing module 84 thus positions and orients the sighting reticle with its marking over the graphical image to enable a display indicating both the location of the target with respect to the vehicle and in turn the state of the vehicle with respect to the spatial reference point.
- the graphical image and properly overlaid and positioned sighting reticle is then sent to the display unit 88 for display to enable an operator or control equipment to aim the aiming equipment 76 at the target.
- the processing module 84 of the system 70 can implement the above optional actions described herein in relation to the method of FIG. 3 and displays on the display unit 88 the sighting reticle in accordance with these options.
- the system 70 enables a control of the vehicle 74 and the aiming equipment 76 on the vehicle 74 by outputting the sighting reticle positioned on the graphical image. This output allows an aiming of the aiming equipment 76 at the target 72 .
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Abstract
Description
- This application claims priority of U.S. Provisional Patent Application No. 60/910,806 filed on Apr. 9, 2007, the contents of which are hereby incorporated by reference.
- This application relates generally to aiming devices to display device for displaying vehicle state information.
- Typical sighting or targeting reticles generally comprise a circular sighting ring with a central cross-hair or “pipper” which marks the exact aiming-point or target at within the field of view of the sighting ring.
FIG. 1 illustrates a simple example of the basic reticle symbology of the prior art. - Sighting reticles may be adequate for gun sighting or camera-aiming purposes, particularly when the associated device (e.g. the gun or the camera) maintains a fixed orientation with respect to an operator. The situation becomes more complex however, when the frame of reference is no longer fixed. This situation occurs for example with a turret-mounted device which incorporates two or more axes of rotational freedom compared to a position of the operator. The most complex level of abstraction arises when the operator is no longer located in an aiming vehicle, as is the case for example with Unmanned Aerial Vehicles (UAVs).
- In controlling UAVs for example, the operator lacks all non-instrument cues regarding the orientation and flight path of the vehicle, which makes it extremely challenging for a sensor operator to remain oriented in space. When a target of interest (TOI) or a “threat” is identified on the camera image, it is extremely difficult for the operator to determine which direction the vehicle should be turned to intercept, photograph, or evade the “threat”. Some systems use auto-stabilization and auto-tracking devices to diminish the adverse effects by maintaining a “lock” on the target using gimballing techniques. These techniques however add yet another level of abstraction outside the operator's control loop for the vehicle and its sighting system.
- There is therefore a need to provide a sighting reticle which aids an operator in controlling the vehicle.
- The present application therefore addresses issues associated with the prior art.
- In accordance with one of multiple embodiments, there is described a method for providing a sighting reticle oriented to aim at a target from a vehicle within an environment of the target. The method comprises: providing a graphical image representing the environment as seen from the vehicle when aiming at the target; determining a state of the vehicle with respect to a spatial reference point; overlaying the sighting reticle onto the graphical image, the sighting reticle indicating the target on the graphical image with respect to the spatial reference point, the sighting reticle comprising a marking defining the spatial reference point; positioning the sighting reticle to orient the marking based on the state of the vehicle; and displaying on a display device the sighting reticle positioned on the graphical image to enable aiming at the target.
- In accordance with another one of multiple embodiments, there is provided a system which provides a sighting reticle oriented to aim at a target from a vehicle within an environment of the target. The system comprises: a processing module; a database accessible by the processing module; an application coupled to the processing module; and a display unit. The application is configured for: receiving vehicle state information from the vehicle; receiving a graphical image, the graphical image representing the environment as seen from the vehicle when aiming at the target; determining a state of the vehicle with respect to a spatial reference point using the vehicle state information received; overlaying the sighting reticle onto the graphical image received, the sighting reticle indicating the target on the graphical image with respect to the spatial reference point, the sighting reticle comprising a marking defining the spatial reference point; and positioning the sighting reticle to orient the marking based on the state of the vehicle. The display unit is for displaying the sighting reticle positioned on the graphical image to enable aiming at the target.
- Further details of these and other aspects of the present invention will be apparent from the detailed description and Figures included below.
- Reference is now made to the accompanying Figures depicting aspects of the present invention, in which:
-
FIG. 1 is a schematic illustration of a simple example of the basic reticle symbology according to the prior art; -
FIG. 2 a is a schematic illustration of an oriented sighting reticle overlaid on an image with a horizon line in accordance with an embodiment; -
FIG. 2 b is an exemplary display of an oriented reticle overlaid on an image with a runway; -
FIG. 2 c is another exemplary display of an oriented reticle overlaid on an image with a body of water and a pier; -
FIG. 3 is a flow chart of a method for providing an oriented sighting reticle for aiming at a target, in accordance with an embodiment; and -
FIG. 4 is a schematic illustration of a system for aiming at a target, in accordance with an embodiment. - The sighting reticle thus provided and displayed in accordance with the present description modifies the traditional reticle symbology by using vehicle information and spatial referencing.
- Reference is made to
FIG. 2 a, which illustrates an exemplary display of an oriented reticle as per the method and system described hereinbelow. InFIG. 2 a, there is shown agraphical image 30 having asighting reticle 32 overlaid thereon. Thegraphical image 30 shows ahorizon line 34 along with geographical features (not shown). - The
sighting reticle 32 has a sighting ring 38 (also referred to as a sighting circle) and acentral reference symbol 40 such as that defining central cross hairs for example, therein aimed at a target.Marking 42 on thesighting ring 38 represents a spatial reference point. Additional optional indices 44 (annotated or not) can be added to thesighting reticle 32 to add reference points. These can be spaced by varying angles “a” as desired around thesighting ring 38 and can form, with the spatial reference point at 42, a spatial reference frame for indicating a state of the vehicle. Other vehicle heading indices such asindex 46 can be added to the sighting reticle to indicate a heading direction of the vehicle. In addition, thecentral reference symbol 40 can be adapted to represent a shape of the vehicle from which an orientation of the vehicle can be inferred. In addition to the above,vehicle state information 48 can be overlaid on the graphical image, as illustrated. -
FIGS. 2 b and 2 c both provide examples based on electronic imagery obtained from a UAV aiming or sensor equipment (76 or 78) having aspatial reference point 42 defined as True North. The aiming equipment system inFIG. 2 b is oriented in an approximately Northeasterly direction, as depicted by the top-centre of thesighting ring 38, close to thehorizon line 34. In contrast, thevehicle 74 is heading in a Southeasterly direction as indicated by the vehicleheading orientation index 46, almost parallel to therunway 92. The target atcentral reference symbol 40 is shown to be at the intersection of the taxiway, on the other side of therunway 92, with the short cutoff leading to therunway 92. - In
FIG. 2 c, the target as seen by the aimingequipment 76 and thevehicle 74 are almost aligned. Thevehicle 74 is heading slightly West of South, toward the far point of thebay 100, and the aiming equipment is aiming slightly East of south. Thepier 102 runs Northeast-Southwest, and the target atcentral reference symbol 40 is directly on thepier 102, slightly off-shore from thebeach 104. - Referring now to
FIG. 3 , there is described a method for providing a sighting reticle oriented to aim at a target. Instep 50, a graphical image representing the environment as seen from the vehicle when aiming at the target is provided. Atstep 52, a state of the vehicle is determined. The state is relative to a spatial reference point.Step 54 involves overlaying the sighting reticle onto the graphical image. The sighting reticle indicates the target on the graphical image with respect to the spatial reference point and the sighting reticle comprises a marking defining the spatial reference point. Atstep 56, the sighting reticle is positioned to orient the marking based on the state of the vehicle. Instep 58, a display device displays the sighting reticle positioned on the graphical image to enable aiming at the target.Step 60 is optional and involves the display of the state of the vehicle on the graphical image with the sighting reticle. Any display unit can be used to accomplish this display, as forstep 58. - The graphical imagery includes, but is not limited to, photographic imagery from a camera, radar, infra-red, synthetic imagery, or vision systems where the graphical imagery is formed from graphical data derived from databases. Any type of sensor can be used to acquired the graphical imagery.
- Although the above method applies to any type of vehicle, the examples provided herein are generally based on a UAV because this type of platform tends to pose more severe challenges to an operator than surface-based vehicles. Other possible types of vehicles are for example helicopters, tanks, cars or various aircraft.
- If the vehicle is an aircraft, the vehicle state information may be received from the aircraft's primary instrumentation systems and may include such information as, but not limited to, aircraft altitude, heading direction, and ground track. This overlaid information is exemplified by
FIGS. 2 b and 2 c. - In the present method, further steps can be optionally included to overlay annotated angular markings, such as cardinal bearing indices, on the aiming circle of the sighting reticle. The annotated angular markings are oriented to a selected reference point which can optionally be chosen to be a True, a Magnetic North, a Grid North or any other suitable Grid reference appropriate to the operation of the vehicle. These annotated indices may also be supplemented by additional indices, as desired. Such annotated indices can form together a fully annotated compass rose of 360 degrees although adequate orientation of the reticle can be achieved by the use of a single spatial reference point or a frame formed by the cardinal markings as shown in
FIG. 2 b or 2 c. - The above method also optionally has additional vehicle state indices overlaid on the sighting circle of the sighting reticle. In
FIGS. 2 a and 2 b, a singlevehicle state index 46 is shown and aligned with the heading of the vehicle. These represent the vehicle's heading and/or track in reference to the spatial reference point of the annotated indices on the sighting ring. Two of theseindices 46 are used inFIG. 2 c. - The
central reference symbol 40 is also optionally modified to form a plan-view vehicle representation typical of navigation displays that are well known to one versed in the art. Such adapted central reference symbol has ahead 64 and atail 66 indicative of an orientation of the vehicle in space, while still defining an aiming point or target of thesighting reticle 32. - For example, in reference now with
FIGS. 2 b and 2 c, thecentral reference symbol 40 is adapted to represent an aircraft by having the symbolic “wings” intersected by a “fuselage” at a centre of rotation of the symbol so as to simultaneously represent the target or aiming point. A symbolic “tail’ 66 is also added to the reference symbol to assist in determining its orientation. The central reference symbol is rotatable and oriented in accordance with thevehicle state indices 46 or the vehicle state information. Accordingly, the operator can immediately gauge the direction of the vehicle's heading orientation (or track) in relation to thegraphical imagery 30 andspatial reference point 42 for example. - Now referring to
FIG. 4 , there is illustrated asystem 70 for aiming at atarget 72 from thevehicle 74 by implementing an embodiment of the above described method. Thevehicle 74 has aimingequipment 76 which optionally has asensor 78 recording graphical data for representing the environment of thevehicle 74 when aiming at thetarget 72. - The
system 70 receives information from thevehicle 74, including vehicle state information, graphical data and other optional aiming information from the aimingequipment 76. - The
system 70 has adatabase 80 for recording information received from thevehicle 74. This information is retrieved and processed for display by asighting module 82. In one embodiment, thedatabase 80 can integrally form part of thesighting module 82. - The
sighting module 82 has aprocessing module 84, anapplication 86 and adisplay unit 88. Theprocessing module 84 has access to thedatabase 80 and theapplication 86. - The
system 70 optionally has agraphical database 89 which is dedicated to storing graphical data either as received from thesensor 78 or as compiled beforehand to provide synthetic imaging.Databases system 70 can also have an input device (not shown) allowing an operator to set various customization parameters of the system such as the setting of the spatial reference point or different display options which are then used to update any default parameters stored ondatabase 80. - An optional user interface (not shown) can also form part of the
system 70, along with other input/output devices (not shown) allowing various forms of transmission and reception of information between the operator and thesystem 70. These input/output devices include but are not limited to, mouse, joysticks, keyboard, touch screen, speaker, microphone and the like. - The
processing module 84 accesses theapplication 86 and thedatabase vehicle 74. In addition, graphical data is retrieved from either thedatabase 89 or thesensor 78. Such graphical data is used to display on the display unit 88 a graphical image representing the environment as seen from thevehicle 74 when aiming at thetarget 72. - The
processing module 84 processes the vehicle state information to determine a state of thevehicle 74 with respect to a given spatial reference point. This state can include information such as a position, an orientation, heading or ground track information of the vehicle with respect to the spatial reference point. - The
processing module 84 overlays a sighting reticle for display on the graphical image to indicate where thetarget 72 is on the graphical image. The sighting reticle also has a marking placed so as to show the spatial reference point. Theprocessing module 84 thus positions and orients the sighting reticle with its marking over the graphical image to enable a display indicating both the location of the target with respect to the vehicle and in turn the state of the vehicle with respect to the spatial reference point. - The graphical image and properly overlaid and positioned sighting reticle is then sent to the
display unit 88 for display to enable an operator or control equipment to aim the aimingequipment 76 at the target. - The
processing module 84 of thesystem 70 can implement the above optional actions described herein in relation to the method ofFIG. 3 and displays on thedisplay unit 88 the sighting reticle in accordance with these options. Thesystem 70 enables a control of thevehicle 74 and the aimingequipment 76 on thevehicle 74 by outputting the sighting reticle positioned on the graphical image. This output allows an aiming of the aimingequipment 76 at thetarget 72. - The above description is meant to be exemplary only, and one skilled in the art will recognize that changes may be made to the embodiments described without department from the scope of the invention disclosed. Still other modifications which fall within the scope of the present invention will be apparent to those skilled in the art, in light of a review of this disclosure, and such modifications are intended to fall within the appended claims.
Claims (21)
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Application Number | Priority Date | Filing Date | Title |
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US12/594,498 US8325065B2 (en) | 2007-04-09 | 2008-04-09 | Self-orienting sighting reticle for vehicle aiming equipment |
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US12/594,498 US8325065B2 (en) | 2007-04-09 | 2008-04-09 | Self-orienting sighting reticle for vehicle aiming equipment |
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Cited By (6)
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US20150332658A1 (en) * | 2014-05-15 | 2015-11-19 | Kabushiki Kaisha Toshiba | Computer apparatus and control method thereof |
US20170139416A1 (en) * | 2015-11-18 | 2017-05-18 | Aerovironment, Inc. | Unmanned aircraft turn and approach system |
US20180113449A1 (en) * | 2011-01-05 | 2018-04-26 | Sphero, Inc. | Orienting a user interface of a controller for operating a self-propelled device |
CN109937374A (en) * | 2016-07-07 | 2019-06-25 | 夏尔特银斯公司D.B.A.涡流光学 | Graticle for optical aiming device |
CN113932653A (en) * | 2021-10-19 | 2022-01-14 | 合肥英睿系统技术有限公司 | Amplification aiming method based on front infrared equipment and related assembly |
WO2023192399A1 (en) * | 2022-03-30 | 2023-10-05 | Sheltered Wings, Inc. D/B/A Vortex Optics | User interface for viewing optic with wind direction capture |
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US8520895B2 (en) * | 2010-12-29 | 2013-08-27 | Honeywell International Inc. | System and method for range and velocity estimation in video data as a function of anthropometric measures |
WO2017017675A1 (en) | 2015-07-28 | 2017-02-02 | Margolin Joshua | Multi-rotor uav flight control method and system |
KR20180010884A (en) | 2016-07-22 | 2018-01-31 | 삼성전자주식회사 | Method, storage medium and electronic device for controlling unmanned aerial vehicle |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US20180113449A1 (en) * | 2011-01-05 | 2018-04-26 | Sphero, Inc. | Orienting a user interface of a controller for operating a self-propelled device |
US10845795B2 (en) * | 2011-01-05 | 2020-11-24 | Sphero, Inc. | Orienting a user interface of a controller for operating a self-propelled device |
US20150332658A1 (en) * | 2014-05-15 | 2015-11-19 | Kabushiki Kaisha Toshiba | Computer apparatus and control method thereof |
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US10042360B2 (en) * | 2015-11-18 | 2018-08-07 | Aerovironment, Inc. | Unmanned aircraft turn and approach system |
US10768624B2 (en) | 2015-11-18 | 2020-09-08 | Aerovironment Inc. | Unmanned aircraft turn and approach system |
US11971717B2 (en) | 2015-11-18 | 2024-04-30 | Aerovironment, Inc. | Unmanned aircraft turn and approach system |
CN109937374A (en) * | 2016-07-07 | 2019-06-25 | 夏尔特银斯公司D.B.A.涡流光学 | Graticle for optical aiming device |
US11846489B2 (en) | 2016-07-07 | 2023-12-19 | Sheltered Wings, Inc. | Reticle for an optical sighting device to engage targets from multiple ranges |
CN113932653A (en) * | 2021-10-19 | 2022-01-14 | 合肥英睿系统技术有限公司 | Amplification aiming method based on front infrared equipment and related assembly |
WO2023192399A1 (en) * | 2022-03-30 | 2023-10-05 | Sheltered Wings, Inc. D/B/A Vortex Optics | User interface for viewing optic with wind direction capture |
Also Published As
Publication number | Publication date |
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EP2142875A1 (en) | 2010-01-13 |
CA2682530A1 (en) | 2008-10-16 |
CA2682530C (en) | 2012-01-03 |
US8325065B2 (en) | 2012-12-04 |
EP2142875B1 (en) | 2019-01-23 |
ES2721430T3 (en) | 2019-07-31 |
EP2142875A4 (en) | 2012-12-05 |
WO2008122129A1 (en) | 2008-10-16 |
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